〇Akio Higo¹, Takayuki Kiba², Cedric Thomas³, Junichi Takayama⁴, Hassanet Sodabanlu⁵, Naofumi Okamoto⁶, Ichiro Yamashita⁶, Masakazu Sugiyama⁵, Yoshiaki Nakano⁵, Akihiro Murayama⁴, Seiji Samukawa^1,3 (1.WPI-AIMR, Tohoku Univ., 2.Kitami Institute of Tech., 3.IFS, Tohoku Univ., 4.IST, Hokkaido Univ., 5.Sch.of Eng., the Univ. of Tokyo, 6.NAIST)